CN211214231U

CN211214231U - Wearable walking aid

Info

Publication number: CN211214231U
Application number: CN201921687376.9U
Authority: CN
Inventors: 刘坤; 吉硕; 刘勇
Original assignee: Pizhou Likonwo Intelligent Rehabilitation Equipment Co ltd
Current assignee: Pizhou Likonwo Intelligent Rehabilitation Equipment Co ltd
Priority date: 2019-10-10
Filing date: 2019-10-10
Publication date: 2020-08-11
Anticipated expiration: 2029-10-10

Abstract

A wearing formula helps capable ware include waist fixed stay device, thigh strutting arrangement, shank strutting arrangement, foot strutting arrangement, according to healthy human gait walking in-process hip, knee and ankle joint key degree of freedom and the human body space gesture in the motion process, fully consider ergonomic characteristics such as waist abdomen, pelvis, thigh, shank, each principal component design is for satisfying the curvilinear figure of mechanical property, ties up and dress the use on user's low limbs. The high-friction-coefficient rubber pad is added at the hinged shaft, the locking effect on the knee joint and the ankle joint can be realized in the walking ground contact link, the upper body weight of a user is conducted downwards to the ground through all components, the passive power-assisted walking, gait posture correction training, standing posture burden reduction and other multi-body using effects are realized indoors, friendly use experience is realized, the use function of bionic intelligence is realized, the light self weight and the low processing cost are realized, the field blank is filled, and the commercial production, popularization and popularization are facilitated.

Description

Wearable walking aid

Technical Field

The utility model belongs to human motion helps capable mechanical equipment field relates to can carry out the supplementary wearing formula of gait motion to low limbs movement dysfunction patient and help capable ware.

Background

The walking ability of the human body is one of the indispensable important behaviors for realizing the autonomous life, and the walking ability of the human body is enhanced or prolonged through auxiliary equipment for patients with lower limb movement dysfunction or special professional groups with the requirements of long-time walking, stooping and the like, so that the walking ability has important value. At present, exercise walking aid or gait training equipment with simple structure at home and abroad is commonly used in the field of power equipment for fitness, the bionic exercise assisting effect of a patient is difficult to realize, and non-bionic gait exercise assisting equipment can cause abnormal rehabilitation of different degrees to musculoskeletal system of the patient or cause abnormal compulsive assistance, so that the exercise comfort is limited. Most of the existing devices special for bionic gait assistance at home and abroad are active multi-degree-of-freedom mechanical systems, have complex mechanical structures and control systems, high cost and high manufacturing cost, are generally only suitable for purchasing and use in hospitals or rehabilitation institutions, and are difficult to use and popularize in families. Therefore, based on the key freedom degree of hip, knee and ankle joints in the gait walking process of a standard healthy user, the passive wearable exoskeleton mechanical equipment which is simple in mechanical structure, low in manufacturing cost, convenient to use and light in weight is designed according to the principles of bionics and ergonomics, and has important significance in the field of walking aid medical appliances or the field of protective equipment of industrial workers in industry.

Disclosure of Invention

An object of the utility model is to provide a wearing formula helps capable ware, make the mechanism simple, make things convenient for the family to use the popularization, according to bionics principle, design one kind when the user carries out gait walking training, human-computer interaction experiences the walking movement auxiliary instrument who feels good, do not use active equipment such as motor, and do structure lightweight and handle, do the bundle formula through seat and band etc. and dress the use, provide the gait walking of customization supplementary and the burden of subtracting for the user that different low limbs movement dysfunction patients perhaps have the continuation of the journey needs of motion.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

a wearing formula helps capable ware include waist fixed stay device 1, thigh strutting arrangement 2, shank strutting arrangement 3, foot strutting arrangement 4, user's pelvis is dressed and is used outward in waist fixed stay device 1 to hip joint position is connected back to thigh support and is stirred with controlling two thigh strutting arrangement 2 respectively about, 2 lower extremes of thigh strutting arrangement are articulated in knee popliteal department with the upper end of

shank strutting arrangement

3, and 3 lower extremes of shank strutting arrangement are articulated with the inside and outside dibit of foot strutting arrangement 4, bind at last and tie up and dress the use on user's low limbs.

Waist fixed stay 1 include waist supporting seat 101, the horizontal band 102 of waist, band base 103, the vertical band 104 of waist, waist supporting seat 101 is hard material integrated into one piece processing, can closely laminate user's pelvis shape, near the pelvis back is arranged in to the full parcel formula, behind the waist, under the buttockss and under the crotch, later through the horizontal band 102 of waist behind the horizontal constraint of user's belly, again with the vertical band 104 of waist and the fastening of band base 103 fastening formation integral type constraint fastening, ensure that waist fixed stay 1 can comfortable firm wearing use.

The thigh supporting device 2 comprises a coil spring 201, a transmission sealing cover 202, a thigh supporting sheet 203, a thigh strap 204 and a first special-shaped pin shaft 205, wherein the initial end of an inner core of the coil spring 201 is fixedly sleeved on a central cylindrical shaft in the transmission sealing cover 202, the outward rolling terminal end of the coil spring 201 is fixedly connected with the inner wall of a circular groove on the side surface of the waist supporting seat 101, then the transmission sealing cover 202 covers the circular grooves on the left side and the right side of the waist supporting seat 101 for hinged packaging, so that stable relative rotation can be realized between the two, the upper end of the thigh supporting sheet 203 is upwards welded on the outer circular surface of the transmission sealing cover 202, then the thigh supporting sheet 203 is downwards twisted by 90 degrees, the lower end is hinged at the upper end of the shank supporting device 3 through the first special-shaped pin shaft 205 at the knee poplites, when the thigh does downwards swinging motion in the forward gait of a user, the thigh supporting sheet 203 is pressed, when the thigh begins to swing upwards to carry out a leg-stepping action, the coil spring 201 releases stored elastic potential energy, and the thigh supporting sheet 203 provides assistance for the thigh in the leg-stepping action upwards, so that the coil spring 201 effectively stores gravitational potential energy and kinetic energy in the thigh movement, timely and reasonably releases the assistance, and physical energy consumption of a user is reduced.

The calf supporting device 3 comprises a first rubber mat 301, an upper calf supporting sheet 302, a limiting pin 303, a lower calf supporting sheet 304, a calf belt 305 and a second special-shaped pin 306, wherein the first rubber mat 301 is made of a flexible material with a high friction coefficient and is embedded into a round through hole at the upper end of the upper calf supporting sheet 302, a first special-shaped pin shaft 205 penetrates through a through hole at the lower end of the upper thigh supporting sheet 203 and a round through hole at the upper end of the upper calf supporting sheet 302 to fixedly connect the thigh supporting device 2 and the calf supporting device 3 in a hinged manner, so that frictional damping rotation can be realized between the calf supporting device 3 and the thigh supporting device 2, the lower calf supporting sheet 304 penetrates through a transverse arc-shaped groove at the lower part of the upper calf supporting sheet 302 through the limiting pin 303 to be fixedly connected, the length of the calf supporting device 3 is adjusted by selecting different transverse arc-shaped grooves, the lower calf supporting sheet 304 can be ensured to slide in an arc shape in the upper calf supporting sheet 302, the lower leg brace 304 is worn by being tied to the lower leg by a lower leg band 305.

Foot strutting arrangement 4 include second cushion 401, shoes body 402 is dressed and is used on user's foot, and second cushion 401 is embedded in the round hole of shoes body 402 heel upper portion left and right sides, and second dysmorphism round pin 306 passes under the shank behind two hexagonal trompils about supporting piece 304 lower extreme, articulates in the round hole of shoes body 402 heel upper portion left and right sides to can form frictional contact with second cushion 401, can make and be formed with the articulated rotation of frictional damping between shank strutting arrangement 3 and the foot strutting arrangement 4.

The beneficial effects of the utility model reside in that: the mechanical structure is designed into an accurate restraint system according to the bionics principle fully according to the key freedom degree and the human body space posture of hip, knee and ankle joints in the motion process in the healthy human body gait walking process, and the user with the movement dysfunction can be assisted to walk according to the standard healthy human body bionics walking state by effectively linking and supporting the pelvis, the knees, the ankles and the like of the user. The waist fixing and supporting device, the thigh supporting device, the crus supporting device and the foot supporting device are structurally designed in a way that ergonomic characteristics of human thighs, crus and the like are fully considered, the curve is designed to meet mechanical properties, rubber pads with high friction coefficients are added at the positions of the knee joints and the ankle joint hinge shafts of the equipment, the locking effect of the knee joints and the ankle joints can be achieved in the ground contact link, the weight of the upper body of a user is conducted downwards to the ground through all components, and the load compression of the weight of the upper body on lower limbs is reduced to the maximum extent. Furthermore, the self weight of the equipment component is reduced through the optimization analysis of the structure and the size, and the manufacturing cost can be saved. The utility model discloses can realize carrying out passive form's helping hand walking, gait posture correction training, the result of use of posture of standing many attitude such as subtracting burden indoor, friendly use experience, bionical intelligent service function, lightweight dead weight and cheap processing cost have filled the field blank, do benefit to commercial production, popularization and popularization.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate example embodiments of the invention and together with the description serve to explain the invention without limitation.

FIG. 1 is an axonometric view of a wearable mobility aid

Figure 2 structural exploded view of the waist fixing and supporting device of the present invention

Fig. 3 is an exploded view of the thigh support device of the present invention

Figure 4 structural exploded view of a calf support device of the present invention

Fig. 5 is an exploded view of the foot support device of the present invention

Detailed Description

The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.

A wearing formula helps capable ware include waist fixed stay device 1, thigh strutting arrangement 2, shank strutting arrangement 3, foot strutting arrangement 4, user's pelvis is dressed and is used outward in waist fixed stay device 1 to about hip joint position respectively with about two thigh strutting arrangement 2 be connected the back to the thigh realize supporting, 2 lower extremes of thigh strutting arrangement and shank strutting arrangement 3 upper end are articulated in knee popliteal department, 3 lower extremes of shank strutting arrangement are articulated with the inside and outside dibit of foot strutting arrangement 4, bind at last and tie up and dress the use on user's low limbs.

Waist fixed stay 1 include waist supporting seat 101, the horizontal band 102 of waist, band base 103, the vertical band 104 of waist, waist supporting seat 101 is hard material integrated into one piece processing, can closely laminate user's pelvis shape, near the pelvis back of placing in of full parcel formula, behind the waist, under the buttockss and the crotch, after then through the horizontal band 102 of waist from the horizontal constraint back of user's belly, form the integral type constraint fastening with the vertical band 104 of waist and the fastening of band base 103 straining again, guaranteed that waist fixed stay 1 can comfortable firm dress use.

The thigh supporting device 2 comprises a coil spring 201, a transmission seal cover 202, a thigh supporting sheet 203, a thigh strap 204 and a first special-shaped pin shaft 205, wherein the initial end of an inner core of the coil spring 201 is fixedly sleeved on a central cylindrical shaft in the transmission seal cover 202, the outward rolling terminal end of the coil spring 201 is fixedly connected with the inner wall of a circular groove on the side surface of the waist supporting seat 101, then the transmission seal cover 202 is hinged and packaged on the circular grooves on the left side and the right side of the waist supporting seat 101 in an inward hinged mode to realize stable relative rotation, the upper end of the thigh supporting sheet 203 is welded under the transmission seal cover 202 upwards, then after the downward 90-degree inward twisting, the lower end of the thigh supporting sheet is hinged to the upper end of the thigh supporting device 3 at a knee popliteal position through the first special-shaped pin shaft 205, when a thigh swings downwards in the forward gait of a user, the thigh supporting sheet 203 is pressed by the thigh to drive downwards, the coil spring 201 releases the stored elastic potential energy, and provides assistance for the thigh in the leg stepping action upwards through the thigh supporting sheet 203, so that the coil spring 201 effectively stores the gravitational potential energy and the kinetic energy in the thigh movement in the process, timely and reasonably releases the assistance, and the physical energy consumption of a user is reduced.

The calf support device 3 comprises a first rubber mat 301, an upper calf supporting piece 302, a limiting pin 303, a lower calf supporting piece 304, a calf strap 305 and a second special-shaped pin 306, the first rubber mat 301 is made of a flexible material with a high friction coefficient and is embedded into a cylindrical through hole at the upper end of the upper calf supporting piece 302, a first special-shaped pin shaft 205 penetrates through a through hole at the lower end of the upper thigh supporting piece 203 and a cylindrical through hole at the upper end of the upper calf supporting piece 302 to fixedly connect the thigh support device 2 and the calf support device 3 in a hinged mode, frictional damping rotation can be achieved between the calf support device 3 and the thigh support device 2, the lower calf supporting piece 304 penetrates through a transverse arc-shaped groove at the lower part of the upper calf supporting piece 302 through the limiting pin 303 to be fixedly connected, the length of the calf support device 3 is adjusted through selecting different transverse arc-shaped grooves, the lower supporting piece 304 can slide in the upper calf supporting piece 302 in an arc-shaped mode, and the lower calf supporting piece 304 with a degree of freedom for.

Foot strutting arrangement 4 include second cushion 401, shoes body 402 is dressed on user's foot, and second cushion 401 is embedded in the trompil of shoes body 402 heel upper portion left and right sides, foot strutting arrangement 4 include second cushion 401, shoes body 402 is dressed on user's foot, and second cushion 401 is embedded in the round hole of shoes body 402 heel upper portion left and right sides, and second dysmorphism round pin 306 passes behind two interior hexagonal trompils about shank lower stay 304 lower extreme, articulates in the round hole of connecting to shoes body 402 heel upper portion left and right sides to can form frictional contact with second cushion 401, guarantee that there is frictional damping to rotate in ankle department between shank strutting arrangement 3 and the foot strutting arrangement 4.

As a preferred example, when the user wears and uses the utility model discloses a wear formula helps capable ware, wear waist fixed stay 1 on user's pelvis earlier, according to user's height and shank limb section length, adjusted shank strutting arrangement 3 length, through thigh band 204 and shank band 305, with thigh strutting arrangement 2, shank strutting arrangement 3 and foot strutting arrangement 4 stably constraint on each limb section of user's low limbs, ready for use. The outer hexagonal end of the first special-shaped pin shaft 205 is assembled in an inner hexagonal opening at the lower end of the thigh supporting sheet 203 in an interference manner, the outer cylindrical end of the first special-shaped pin shaft 205 is assembled in a circular through hole at the upper end of the lower leg supporting sheet 302 in a clearance manner to realize frictional contact with the first rubber pad 301, the outer hexagonal end of the second special-shaped pin 306 is assembled in two inner hexagonal opening holes at the lower end of the lower leg supporting sheet 304 in an interference manner, the outer cylindrical end of the second special-shaped pin 306 is assembled in a circular hole of the shoe body 402 to form frictional contact with the second rubber pad 401, when the lower limb at the side is in a ground supporting state, the upper body weight of a user is transmitted through all stages of components and then loaded onto the first special-shaped pin shaft 205 until enough frictional force is generated with the first rubber pad 301 to fully prevent the rotation between the thigh supporting device 2 and the lower leg supporting device 3, namely, the locking effect on the knee joint of the user is realized, then the upper, until enough friction force is generated between the upper body and the second rubber cushion 401 to fully prevent the rotation between the lower leg supporting device 3 and the foot supporting device 4, namely, the locking effect on the ankle joints of the user is realized, and finally, the full locking state of the freedom degrees of each joint of the lower limb exoskeleton in the ground supporting link is realized, all the weight of the upper body is downwards transmitted to the ground through each component, so that the load compression of the weight of the upper body on the lower limbs is reduced to the maximum extent. Then, when the thigh of the user starts to rise, the downward pressure at the knee joint and the ankle joint is gradually weakened to gradually weaken the friction force at the hinged joint, the locking effect disappears, the rotational freedom degree of each joint is restored, and the thigh rises to perform the following walking action.

The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made to the present invention should be included in the protection scope of the present invention.

Claims

1. A wearable walking aid, which is characterized in that: including waist fixed stay device (1), thigh strutting arrangement (2), shank strutting arrangement (3), foot strutting arrangement (4), user's pelvis is dressed and is used outside arranging in waist fixed stay device (1) to hip joint position is connected back to thigh support and stirring with controlling two thigh strutting arrangement (2) respectively about, thigh strutting arrangement (2) lower extreme is articulated in knee popliteal department with the upper end of shank strutting arrangement (3), and shank strutting arrangement (3) lower extreme is articulated with foot strutting arrangement (4) dibit, ties up at last and ties up and dresses the use on user's low limbs.

2. A wearable walker according to claim 1 wherein: waist fixed stay (1) including waist supporting seat (101), the horizontal band of waist (102), band base (103), the vertical band of waist (104), waist supporting seat (101) are hard material integrated into one piece processing, can closely laminate user's pelvis shape, close to the pelvis of full parcel formula and place in behind, behind the waist, under the buttockss and under the crotch, after follow the horizontal constraint back of user's belly through the horizontal band of waist (102), form integral type constraint fastening with the vertical band of waist (104), the fastening of band base (103) straining again, ensure that waist fixed stay (1) can comfortable firm wearing and use.

3. A wearable walker according to claim 2 wherein: the thigh supporting device (2) comprises a coil spring (201), a transmission sealing cover (202), thigh supporting pieces (203), a thigh strap (204) and a first special-shaped pin shaft (205), wherein the initial end of an inner core of the coil spring (201) is fixedly sleeved on a central cylindrical shaft in the transmission sealing cover (202), the outward-rolling terminal end of the coil spring (201) is fixedly connected with the inner wall of a circular groove on the side surface of a waist supporting seat (101), then the transmission sealing cover (202) covers the circular grooves on the left side and the right side of the waist supporting seat (101) to be hinged and packaged, stable relative rotation can be realized between the transmission sealing cover and the waist supporting seat, the upper ends of the thigh supporting pieces (203) are upwards welded on the outer circular surface of the transmission sealing cover (202), after the thigh supporting pieces (203) are downwards twisted inwards by 90 degrees, the lower ends are hinged at the upper end of the thigh supporting device (3) through the first special-shaped pin shaft (205) at the, the thigh supporting sheet (203) is pressed by a thigh to swing downwards integrally, the coil spring (201) is curled to compress and store energy, then when the thigh swings upwards to carry out a leg stepping action, the coil spring (201) releases stored elastic potential energy, the thigh supporting sheet (203) provides assistance for the thigh in the leg stepping action upwards, the coil spring (201) effectively stores gravitational potential energy and kinetic energy in the thigh movement in the process, timely and reasonably releases the assistance, and physical energy consumption of a user is reduced.

4. A wearable walker according to claim 3 wherein: the crus supporting device (3) comprises a first rubber cushion (301), a crus upper supporting sheet (302), a limiting pin (303), a crus lower supporting sheet (304), a crus strap (305) and a second special-shaped pin (306), wherein the first rubber cushion (301) is made of a flexible material with a high friction coefficient and is embedded into a round through hole at the upper end of the crus upper supporting sheet (302), a first special-shaped pin shaft (205) penetrates through a hexagonal through hole at the lower end of the thigh supporting sheet (203) and a round through hole at the upper end of the crus upper supporting sheet (302) to hinge and fixedly connect the thigh supporting device (2) and the crus supporting device (3), so that frictional damping rotation can be realized between the crus supporting device (3) and the thigh supporting device (2), the crus lower supporting sheet (304) penetrates through a transverse arc-shaped groove at the lower part of the crus upper supporting sheet (302) through the limiting pin (303) to be fixedly connected, the length of the crus supporting device (3, and the lower leg supporting piece (304) can be ensured to slide in an arc shape in the upper leg supporting piece (302), the degree of freedom of adduction and abduction of the lower leg is partially released, and the lower leg supporting piece (304) can be bound on the lower leg through a lower leg strap (305) for wearing.

5. A wearable walker according to claim 4 wherein: foot strutting arrangement (4) include second cushion (401), the shoes body (402), shoes body (402) are dressed and are used on user's foot, second cushion (401) are embedded in the trompil of shoes body (402) heel upper portion left and right sides, behind two interior hexagonal through-holes about second dysmorphism round pin (306) pass under the shank brace (304) lower extreme, the articulated round hole that links firmly shoes body (402) heel upper portion left and right sides in to can form frictional contact with second cushion (401), guarantee between shank strutting arrangement (3) and foot strutting arrangement (4) can realize having frictional damping in ankle department and rotate.